Skip to main content
SpringerLink
Log in

Second Order Sliding Modes to Control and Supervise Industrial Robot Manipulators

  • Chapter
Sliding Modes after the First Decade of the 21st Century

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 412))

Abstract

On the basis of classical studies in robotics, it seems that the conventional sliding mode approach is not a suitable technique to design robotic controllers, due to the presence of the so-called chattering effect. However, studies have shown that a good reduction of the chattering effect can be achieved by relying on higher order sliding modes. This chapter presents the application of the Second Order Sliding Mode (SOSM) design methodology to the control and supervision of industrial manipulators, by proposing a robust control scheme and a diagnostic scheme to detect and, possibly, isolate and identify faults acting on the components of the system. The proposed SOSM motion controller and the SOSM observers designed to construct the diagnostic scheme are theoretically developed, and their practical application is suitably described. Indeed, the proposed approaches are experimentally verified on a COMAU SMART3-S2 industrial robot manipulator, obtaining satisfactory results.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 129.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Abdallah, C.T., Dawson, D.M., Dorato, P., Jamshidi, M.: Survey of robust control for rigids robots. IEEE Control Systems Magazine 11(2), 24–30 (1991)

    Article  Google Scholar 

  2. Asada, H., Slotine, J.J.E.: Robot Analysis and Control. John Wiley & Sons, New York (1986)

    Google Scholar 

  3. Balestrino, A., De Maria, G., Sciavicco, L.: An adaptive model following control for robotic manipulators. ASME Journal of Dynamic Systems, Measurement, and Control 105, 143–151 (1983)

    Article  MATH  Google Scholar 

  4. Bartolini, G., Ferrara, A., Levant, A., Usai, E.: On second order sliding mode controllers. In: Young, K.D., Ozguner, U. (eds.). LNCIS, vol. 247, pp. 329–350 (1999)

    Google Scholar 

  5. Bartolini, G., Ferrara, A., Punta, E.: Multi-input second-order sliding-mode hybrid control of constrained manipulators. Dynamics and Control 10(3), 277–296 (2000)

    Article  MathSciNet  MATH  Google Scholar 

  6. Bartolini, G., Ferrara, A., Usai, E.: Output tracking control of uncertain nonlinear second-order systems. Automatica 33(12), 2203–2212 (1997)

    Article  MathSciNet  MATH  Google Scholar 

  7. Bartolini, G., Ferrara, A., Usai, E.: Chattering avoidance by second order sliding mode control. IEEE Transactions on Automatic Control 43(2), 241–246 (1998)

    Article  MathSciNet  MATH  Google Scholar 

  8. Bartolini, G., Ferrara, A., Usai, E., Utkin, V.I.: On multi-input chattering-free second-order sliding mode control. IEEE Transactions on Automatic Control 45(9), 1711–1717 (2000)

    Article  MathSciNet  MATH  Google Scholar 

  9. Bartolini, G., Ferrara, A., Utkin, V.I.: Adaptive sliding mode control in discrete-time systems. Automatica 31(5), 763–769 (1995)

    Article  MathSciNet  Google Scholar 

  10. Bartolini, G., Pisano, A.: Global output-feedback tracking and load disturbance rejection for electrically-driven robotic manipulators with uncertain dynamics. International Journal of Control 76(12), 1201–1213 (2003)

    Article  MathSciNet  MATH  Google Scholar 

  11. Bartolini, G., Pisano, A., Punta, E., Usai, E.: A survey of applications of second-order sliding mode control to mechanical systems. International Journal of Control 76(9), 875–892 (2003)

    Article  MathSciNet  MATH  Google Scholar 

  12. Boiko, I., Fridman, L.M.: Analysis of chattering in continuous sliding-mode controllers. IEEE Transactions on Automatic Control 50(9), 1442–1446 (2005)

    Article  MathSciNet  Google Scholar 

  13. Boiko, I., Fridman, L.M., Castellanos, M.I.: Analysis of second-order sliding-mode algorithms in the frequency domain. IEEE Transactions on Automatic Control 49(6), 946–950 (2004)

    Article  MathSciNet  Google Scholar 

  14. Boiko, I., Fridman, L.M., Pisano, A., Usai, E.: Performance analysis of second-order sliding-mode control systems with fast actuators. IEEE Transactions on Automatic Control 52(6), 1053–1059 (2007)

    Article  MathSciNet  Google Scholar 

  15. Brambilla, D., Capisani, L.M., Ferrara, A., Pisu, P.: Actuators and sensors fault detection for robot manipulators via second order sliding mode observers. In: Proc. 10th IEEE/IFAC International Workshop on Variable Structure Systems, Antalya, Turkey, pp. 61–66 (2008)

    Google Scholar 

  16. Brambilla, D., Capisani, L.M., Ferrara, A., Pisu, P.: Fault detection for robot manipulators via second-order sliding modes. IEEE Transactions on Industrial Electronics 55(11), 3954–3963 (2008)

    Article  Google Scholar 

  17. Brambilla, D., Capisani, L.M., Ferrara, A., Pisu, P.: Second order sliding modes observers for fault detection of robot manipulators. In: Proc. 47th IEEE Conference on Decision and Control, Cancun, Mexico, pp. 2949–2954 (2008)

    Google Scholar 

  18. Calanca, A., Capisani, L.M., Ferrara, A., Magnani, L.: An inverse dynamics-based discrete-time sliding mode controller for robot manipulators. In: Kozlowski, K. (ed.) Robot Motion and Control 2007. LNCIS, pp. 137–146. Springer, London (2007)

    Chapter  Google Scholar 

  19. Capisani, L.M., Ferrara, A., Magnani, L.: MIMO identification with optimal experiment design for rigid robot manipulators. In: Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Zürich, Switzerland, pp. 1–6 (2007)

    Google Scholar 

  20. Capisani, L.M., Ferrara, A., Magnani, L.: Design and experimental validation of a second-order sliding-mode motion controller for robot manipulators. International Journal of Control 82(2), 365–377 (2009)

    Article  MathSciNet  MATH  Google Scholar 

  21. Cheah, C.C., Liu, C., Slotine, J.J.E.: Adaptive tracking control for robots with unknown kinematic and dynamic properties. The International Journal of Robotics Research 25(3), 283–296 (2006)

    Article  Google Scholar 

  22. Chen, W., Saif, M.: Robust fault detection and isolation in constrained nonlinear systems via a second order sliding mode observer. In: Proc. 15th IFAC World Congress, Barcelona, Spain, pp. 1498–1500 (2002)

    Google Scholar 

  23. Chen, Y., Chang, J.L.: Sliding-mode force control of manipulators. National Science Council ROC(A) 23(2), 281–289 (1999)

    Google Scholar 

  24. Chiacchio, P., Pierrot, F., Sciavicco, L., Siciliano, B.: Robust design of independent joint controllers with experimentation on a high-speed parallel robot. IEEE Transactions on Industrial Electronics 40(4), 393–403 (1993)

    Article  Google Scholar 

  25. Colbaugh, R.D., Bassi, E., Benzi, F., Trabatti, M.: Enhancing the trajectory tracking performance capabilities of position-controlled manipulators. In: Proc. IEEE Industry Applications Conference, Rome, Italy, vol. 2, pp. 1170–1177 (2000)

    Google Scholar 

  26. Craig, J.J.: Adaptive Control of Mechanical Manipulators. Addison-Wesley, New York (1988)

    Google Scholar 

  27. Davila, J.A., Fridman, L.M., Levant, A.: Second-order sliding-mode observer for mechanical systems. IEEE Transactions on Automatic Control 50(11), 1785–1789 (2005)

    Article  MathSciNet  Google Scholar 

  28. De Luca, A., Mattone, R.: Actuator failure detection and isolation using generalized momenta. In: Proc. IEEE International Conference on Robotics and Automation, Taipei, Taiwan, vol. 1, pp. 634–639 (2003)

    Google Scholar 

  29. De Luca, A., Mattone, R.: An identification scheme for robot actuator faults. In: Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Alberta, Canada, pp. 1127–1131 (2005)

    Google Scholar 

  30. De Persis, C., Isidori, A.: A geometric approach to nonlinear fault detection and isolation. IEEE Transactions on Automatic Control 46(6), 853–865 (2001)

    Article  MathSciNet  MATH  Google Scholar 

  31. Dinuzzo, F., Ferrara, A.: Higher order sliding mode controllers with optimal reaching. IEEE Transactions on Automatic Control 54(9), 2126–2136 (2009)

    Article  MathSciNet  Google Scholar 

  32. Dixon, W.E., Walker, I.D., Dawson, D.M., Hartfranft, J.P.: Fault detection for robot manipulators with parametric uncertainty: A prediction-error-based approach. IEEE Transactions on Robotics and Automation 16(6), 689–699 (2000)

    Article  Google Scholar 

  33. Edwards, C., Spurgeon, S.K.: Sliding Mode Control: Theory and Applications. Taylor & Francis, London (1998)

    Google Scholar 

  34. Edwards, C., Spurgeon, S.K., Hebden, R.G.: On development and applications of sliding mode observers. In: Xu, J., Xu, Y. (eds.) Variable Structure Systems: Toward 21st Century. LNCIS, pp. 253–282. Springer, Berlin (2002)

    Chapter  Google Scholar 

  35. Edwards, C., Spurgeon, S.K., Patton, R.J.: Sliding mode observers for fault detection and isolation. Automatica 36(4), 541–553 (2000)

    Article  MathSciNet  MATH  Google Scholar 

  36. Ferrara, A., Magnani, L.: Motion control of rigid robot manipulators via first and second order sliding modes. Journal of Intelligent and Robotic Systems 48(1), 23–36 (2007)

    Article  Google Scholar 

  37. Frank, P.M.: Fault diagnosis in dynamic systems via state estimation - a survey. In: Tzafestas, Singh, Schmidt (eds.) System Fault Diagnostics, Reliability and Related Knowledge-based Approaches, pp. 35–98. Reidel Press, Dort (1987)

    Google Scholar 

  38. Fridman, L.M.: An averaging approach to chattering. IEEE Transactions on Automatic Control 46(8), 1260–1264 (2001)

    Article  MathSciNet  MATH  Google Scholar 

  39. Guldner, J., Utkin, V.I., Hashimoto, H., Harashima, F.: Obstacle avoidance in r n based on artificial harmonic potential fields. In: Proc. IEEE Conference on Robotics and Automation, Nagoya, Aichi, Japan, vol. 3, pp. 3051–3056 (1995)

    Google Scholar 

  40. Hermans, F.J.J., Zarrop, M.B.: Sliding mode observers for robust sensor monitoring. In: Proc. 13th IFAC World Congress, San Francisco, California, USA, pp. 211–216 (1997)

    Google Scholar 

  41. Jafarov, E.M., Parlakçi, A.M.N., Istefanopulos, Y.: A new variable structure pid-controller design for robot manipulators. IEEE Transactions on Control Systems Technology 13(1), 122–130 (2000)

    Article  Google Scholar 

  42. Juang, J.N., Eure, K.W.: Predictive feedback and feedforward control for systems with unknown disturbance. NASA/Tm-1998-208744 pp. 1–35 (1998)

    Google Scholar 

  43. Koivo, A.J.: Fundamentals for Control of Robotic Manipulators. Wiley & Sons, New York (1989)

    Google Scholar 

  44. Kreutz, K.: On manipulator control by exact linearization. IEEE Transactions on Automatic Control 34(7), 763–767 (1989)

    Article  MathSciNet  MATH  Google Scholar 

  45. Kuo, C.Y., Wang, S.P.T.: Nonlinear robust industrial robot control. Transactions of the ASME Journal of Dynamic Systems, Measurement and Control 111(1), 24–30 (1989)

    Article  MATH  Google Scholar 

  46. Levant, A.: Sliding order and sliding accuracy in sliding mode control. International Journal of Control 58(6), 1247–1263 (1993)

    Article  MathSciNet  MATH  Google Scholar 

  47. Levant, A.: Robust exact differentiation via sliding mode technique. Automatica 34(3), 379–384 (1998)

    Article  MathSciNet  MATH  Google Scholar 

  48. Levant, A.: Variable measurement step in 2-sliding control. Kybernetika 36(1), 77–93 (2000)

    MathSciNet  Google Scholar 

  49. Levant, A.: Homogeneity approach to high-order sliding mode design. Automatica 41(5), 823–830 (2005)

    Article  MathSciNet  MATH  Google Scholar 

  50. Liu, M.: Decentralized control of robot manipulators: Nonlinear and adaptive approaches. IEEE Transactions on Automatic Control 44(2), 357–363 (1999)

    Article  MATH  Google Scholar 

  51. Mattone, R., De Luca, A.: Fault detection and isolation in mechanical systems. Tech. rep., Department of Computer and System Science, University of La Sapienza, Rome, Italy (2004)

    Google Scholar 

  52. Ortega, R., Spong, M.W.: Adaptive motion control of rigid robots: a tutorial. Automatica 25(6), 877–888 (1989)

    Article  MathSciNet  MATH  Google Scholar 

  53. Perk, J.S., Han, G.S., Ahn, H.S., Kim, D.H.: Adaptive approaches on the sliding mode control of robot manipulators. Transactions on Control, Automation and Systems Engineering 3(2), 15–20 (2001)

    Google Scholar 

  54. Pisu, P., Ferrara, A.: An observer-based second order sliding mode vehicle control strategy. In: Proc. IEEE 4th Intelligent Vehicles Symposium, Dearborn, Michigan, USA, pp. 180–185 (2000)

    Google Scholar 

  55. Pisu, P., Rizzoni, G.: A framework for model-based fault diagnosis with application to vehicle systems. In: Proc. 2nd IFAC Conference on Mechatronic Systems, Berkeley, California, USA (2002)

    Google Scholar 

  56. Pisu, P., Serrani, A., You, S., Jalics, L.: Adaptive threshold based diagnostics for steer-by-wire systems. ASME Transactions on Dynamics Systems, Measurement and Control 128(2), 428–435 (2006)

    Article  Google Scholar 

  57. Poignet, P., Gautier, M.: Nonlinear model predictive control of a robot manipulator. In: Proc. 6th International Workshop on Advanced Motion Control, Nagoya, Japan, pp. 401–406 (2000)

    Google Scholar 

  58. Richalet, J., Abu, E., Ata-Doss, S., Arber, C.: Predictive functional control. application to fast and accurate robots. In: Proc. 10th IFAC World Congress, Munich, Germany, pp. 251–258 (1997)

    Google Scholar 

  59. Sarpturk, S.Z., Istefanopulos, Y., Kaynak, O.: On the stability of discrete-time sliding mode control systems. IEEE Transactions on Automatic Control 32(10), 930–932 (1987)

    Article  MATH  Google Scholar 

  60. Sciavicco, L., Siciliano, B.: Modelling and Control of Robot Manipulators, 2nd edn. Springer, London (2000)

    Book  MATH  Google Scholar 

  61. Shyu, K.K., Chu, P.H., Shang, L.J.: Control of rigid robot manipulators via combination of adaptive sliding mode control and compensated inverse dynamics approach. In: Proc. IEE Control Theory and Application, vol. 143, pp. 283–288 (1996)

    Google Scholar 

  62. Spong, M.W., Lewis, F.L., Abdallah, C.T.: Robot Control: Dynamics, Motion Planning, and Analysis. IEEE Press, Piscataway (1993)

    MATH  Google Scholar 

  63. Sreedhar, F., Fernández, B., Masada, G.Y.: Robust fault detection in nonlinear systems using sliding mode observers. In: Proc. IEEE Conference on Control Applications, Vancouver, British Columbia, Canada, vol. 2, pp. 715–721 (1993)

    Google Scholar 

  64. Tan, C.P., Edwards, C.: Sliding mode observers for detection and reconstruction of sensor faults. Automatica 38(10), 1815–1821 (2002)

    Article  MathSciNet  MATH  Google Scholar 

  65. Utkin, V.I.: Sliding modes in control and optimization. Springer, Berlin (1992)

    MATH  Google Scholar 

  66. Utkin, V.I., Drakunow, S.V.: On discrete-time sliding modes control. In: Preprints IFAC Conference on Nonlinear Control, Capri, Italy, pp. 484–489 (1989)

    Google Scholar 

  67. Utkin, V.I., Guldner, J., Shi, J.: Sliding Mode Control in Electromechanical Systems. Taylor & Francis, London (1999)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Computer Engineering and Systems Science, University of Pavia, via A. Ferrata 1, 27100, Pavia, PV, Italy

    Antonella Ferrara & Luca Massimiliano Capisani

Authors
  1. Antonella Ferrara
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Luca Massimiliano Capisani
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Departamento de Ingenieria de Control y Robotica, Division de Ingenieria Electrica, Universidad Nacional Autonoma de Mexico, Ciudad Universitaria, Instituto de Ingenieria, 04510, Mexico, D.F., Mexico

    Leonid Fridman

  2. Instituto de Ingenieria, Universidad Nacional Autonoma de Mexico, Ciudad Universitaria, 04510, Mexico, D.F., Mexico

    Jaime Moreno

  3. Instituto de Ingenieria, Departamento de Ingenieria de Control y Robotica, Division de Ingenieria Electrica, Universidad Nacional Autonoma de Mexico, Ciudad Universitaria,, 04510, Mexico, D.F., Mexico

    Rafael Iriarte

Rights and permissions

Reprints and permissions

Copyright information

© 2011 Springer-Verlag Berlin Heidelberg

About this chapter

Cite this chapter

Ferrara, A., Capisani, L.M. (2011). Second Order Sliding Modes to Control and Supervise Industrial Robot Manipulators. In: Fridman, L., Moreno, J., Iriarte, R. (eds) Sliding Modes after the First Decade of the 21st Century. Lecture Notes in Control and Information Sciences, vol 412. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-22164-4_20

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-22164-4_20

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-22163-7

  • Online ISBN: 978-3-642-22164-4

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation